ОЦЕНКА ПАРАМЕТРОВ КЛОТОИДНОЙ ТРАЕКТОРИИ ВХОДА В ПОВОРОТ КОЛЕСНОЙ МАШИНЫ

Abstract

A theoretical assessment of the influence of the translational speed of a wheeled vehicle and the angular rotation speed of its steered wheels on the main characteristics of the clotoid curve is carried out. The calculations were carried out with the following initial parameters characterizing the structural and geometric features of the wheeled vehicle: the longitudinal base of the machine is 2.6 m; the distance between the axes of the front axle pins is 1.8 m; the maximum angle of rotation of the driven wheels is 33 °30'. The speed of the translational movement of the machine and the angular rotation speed of the controlled wheels was varied. The results of the evaluation are as follows. With a constant angular rotation speed of the front wheels of 0.195 s-1 and with a change in the speed of translational motion in the range from 0.57 m/s to 1.78 m / s, the maximum abscissa of the clotoid curve increased from 0.113 m to 1.074 m – almost tenfold, and the maximum ordinate from 1.703 m to 5.141 m - approximately three times. At a constant translational speed of 1.41 m/s and with a change in angular velocity in the range from 0.0974 s-1 to 0.292 s-1, which corresponds to the time interval of turning the wheels at a maximum angle from 2 s to 6 s, it was obtained: the maximum abscissa decreases with an increase in angular velocity from 2.585 m to 0.305 m - by 8.5 times, and the maximum ordinate - from 7,689 m to 2.79 m - 2.8 times. The calculation established that the minimum radius of curvature of the trajectory at the end of the section of the entrance to the turn is equal to 5,061 m, which corresponds, as it should be, to the value of the minimum theoretical radius given in the technical characteristics of some wheeled vehicles with the accepted initial parameters.